Headlight control unit

Abstract

Front headlight control unit (10), with: an electronic control unit (90) that performs illumination angle control of an adjustment of an illumination angle (θ) of at least one headlight (21L) of a vehicle (100), wherein the illumination angle (θ) is an angle at which the at least one headlight (21L) emits light in front of the vehicle (100), which is defined by an axis (C) of the light emitted by the at least one headlight (21L) and a line (Lv) extending vertically; and a forward image acquisition device (41) which acquires a forward image which is an image of a view in front of the own vehicle (100), the electronic control unit (90) is configured for this purpose: to perform a vehicle image acquisition process of acquiring an image of a forward-moving vehicle (200F) in front of the own vehicle (100) from the forward image, if the electronic control unit (90) performs the lighting angle control, characterized in that the electronic control unit (90) is further configured to: if the electronic control unit (90) acquires the image of the moving vehicle (200F) through the vehicle image acquisition process, to designate the moving vehicle (200F) identified by the acquired image of the moving vehicle (200F) as a target vehicle (200T) on which the illumination angle control is aimed; to procure a target longitudinal difference corresponding to a length between a reference sideline and a target vehicle sideline, wherein the reference sideline is a reference line extending in a lateral direction in the forward image and is a line defining a position of a leading edge of the area in front of the own vehicle (100) which is illuminated by at least one headlight (21L) with a predetermined basic illumination angle, and the target vehicle sideline is a line extending in a lateral direction in the forward image and defining a position of the target vehicle (200T) in a longitudinal direction in the forward image; to procure a target side difference which corresponds to a length between a reference longitudinal line and a target vehicle longitudinal line, wherein the reference longitudinal line is a reference line extending in the longitudinal direction in the forward image, the target vehicle longitudinal line is a line extending in the longitudinal direction in the forward image and defines a position of the target vehicle (200T) in the lateral direction in the forward image; to determine a target illumination angle of at least one front headlight (21L) depending on the procured target longitudinal difference and the procured target lateral difference; and to adjust the illumination angle of at least one front headlight (21L) to the specified target illumination angle, wherein: if the electronic control unit (90) detects the image of the forward-moving vehicle (200F) and determines the target vehicle (200T), the electronic control unit (90) is further configured to (i) obtain a first angle to be added to the predetermined basic illumination angle based on the target longitudinal difference, (ii) obtain a second angle to be added to the predetermined basic illumination angle based on the target lateral difference, and (iii) determine a value obtained by adding the first angle and the second angle to the predetermined basic illumination angle as the target illumination angle; which includes at least one front headlight (21L), an oncoming lane area headlight (21L) that illuminates an area on one side of an oncoming lane, and a forward area headlight (21L) that illuminates an area directly in front of the own vehicle (100); the illumination angle of the oncoming lane area headlight (21L) is smaller by a predetermined angle than the illumination angle of the forward area headlight (21L), and the electronic control unit (90) is further configured to: to set the second angle to zero if the target vehicle (200T) is a vehicle moving in the area directly in front of the own vehicle (100); to set the second angle to the predetermined angle if the target vehicle (200T) is a vehicle moving in the area on the side of the opposite lane; to determine that the target vehicle (200T) is the vehicle moving in the area directly in front of the own vehicle (100), if the target side difference with respect to the reference longitudinal line represents the area directly in front of the own vehicle (100); and to determine that the target vehicle (200T) is the vehicle moving in the area on the side of the opposite lane if the target side difference with respect to the reference longitudinal line represents the area on the side of the opposite lane.

Description

BACKGROUND OF THE INVENTIONTechnical field

[0001] The invention relates to a headlight control unit. State of the art

[0002] A headlight device is known that changes the illumination states of headlights depending on whether a preceding vehicle or an oncoming vehicle is present, i.e., depending on a situation in front of a vehicle's own vehicle (see, for example, JP 2007-045407 A). Another headlight device is also known in which the illumination angles of the right and left headlights are different from each other to avoid dazzling a driver of an oncoming vehicle. In this known headlight device, the illumination angle of the headlight illuminating the oncoming lane (or opposite lane) is set to a smaller angle than the illumination angle of the headlight illuminating a lane of the own vehicle in which the own vehicle is traveling.As a result, an area illuminated by the headlight illuminating the oncoming lane is more limited than an area illuminated by the headlight illuminating the lane of the driver's own vehicle.

[0003] A driver of the host vehicle can clearly see the view ahead of the host vehicle at night if the headlights illuminate an area far ahead of the host vehicle. If (i) the headlights illuminate the area far ahead of the host vehicle, and (ii) another vehicle is in front of the host vehicle, a driver of the other vehicle (i.e., a forward-moving vehicle) may be dazzled by the headlights, and the vehicle may drive with difficulty. Thus, it is advantageous for the driver of the host vehicle to set the illumination angles of the headlights to larger angles, and it is advantageous for the driver of the forward-moving vehicle to set the illumination angles of the headlights to smaller angles.

[0004] Furthermore, DE 10 2014 214 649 A1 describes a method for aligning the illumination area of ​​a headlight of a vehicle depending on the surroundings of the vehicle. This method involves classifying at least one other vehicle in the surroundings of the vehicle based on information about a position of the other vehicle relative to the vehicle, determining a target position of the headlight while ignoring the other vehicle if the other vehicle is classified as passing the vehicle or being passed by the vehicle, and providing a signal for moving the headlight to the target position while the vehicle is being passed by the other vehicle or while the other vehicle is passing the vehicle.Furthermore, DE 10 2014 006 598 A1 shows an adjustment of a predetermined luminous flux generated by a lighting device when the high beam is switched on, depending on a distance between the motor vehicle and at least one other detected road user. SUMMARY OF THE INVENTION

[0005] It is an object of the invention to provide a headlight control device that can illuminate the area in front of the host vehicle by the headlights to ensure high visibility for the driver of the host vehicle to see the view in front of the host vehicle, while avoiding glare for the driver of the forward-moving vehicle.

[0006] The object is achieved according to the invention by a headlight control unit according to claim 1. Further features and advantageous developments are shown in the subclaims.

[0007] A headlight control device according to the invention comprises an electronic control unit and a forward image acquisition device. The electronic control unit performs illumination angle control by adjusting an illumination angle of at least one headlight of a host vehicle. The illumination angle is an angle at which the at least one headlight emits light in front of the host vehicle, which angle is defined by an axis of the light emitted by the at least one headlight and a line extending vertically. The forward image acquisition device acquires a forward image, which is an image of a view in front of the host vehicle.

[0008] The electronic control unit performs a vehicle image acquisition process of acquiring an image of an advancing vehicle in front of the host vehicle from the forward image if the electronic control unit executes the illumination angle control. Further, if the electronic control unit acquires the image of the advancing vehicle through the vehicle image acquisition process, the electronic control unit sets the advancing vehicle identified by the acquired image of the advancing vehicle as a target vehicle to be targeted by the illumination angle control.

[0009] In addition, the electronic control unit acquires a target longitudinal difference corresponding to a length between a reference side line and a target vehicle side line. The reference side line is a reference line extending in a lateral direction in the forward image. The target vehicle side line is a line extending in the lateral direction in the forward image and defines a position of the target vehicle in a longitudinal direction in the forward image. In addition, the electronic control unit acquires a target side difference corresponding to a length between a reference longitudinal line and a target vehicle longitudinal line. The reference longitudinal line is a reference line extending in the longitudinal direction in the forward image. The target vehicle longitudinal line is a line extending in the longitudinal direction in the forward image and defines a position of the target vehicle in the lateral direction in the forward image.

[0010] Furthermore, the electronic control unit determines a target illumination angle of the at least one headlight depending on the acquired target longitudinal difference and the acquired target lateral difference. Furthermore, the electronic control unit adjusts the illumination angle of the at least one headlight to the specified target illumination angle.

[0011] Adjusting the illumination angle of the at least one headlight of the host vehicle, depending on the positional relationship between the host vehicle and the target vehicle, can prevent a driver of the target vehicle from being dazzled by the light emitted by the at least one headlight of the host vehicle. In addition, adjusting the illumination angle of the at least one headlight of the host vehicle, depending on the positional relationship between the host vehicle and the target vehicle, such that an area near the target vehicle is illuminated by the at least one headlight, can ensure high visibility for the driver of the host vehicle to see the view ahead of the host vehicle.The headlight control unit according to the invention adjusts the illumination angle of the at least one headlight of the own vehicle depending on the target longitudinal difference and the target lateral difference, which determine the positional relationship between the.

[0012] The headlight control unit according to the invention can thus ensure the driver of the host vehicle has high visibility to see the view ahead of the host vehicle, while avoiding dazzling the driver of the target vehicle.

[0013] According to an aspect of the invention, if the electronic control unit detects the images of the forward-moving vehicles from the forward image, the electronic control unit may set the forward-moving vehicle closest to the host vehicle among the forward-moving vehicles identified by the images of the forward-moving vehicles as the target vehicle.

[0014] If forward-moving vehicles are present, adjusting the illumination angle of the at least one headlight of the host vehicle depending on the position of the forward-moving vehicle closest to the host vehicle can prevent dazzling of the drivers of all the forward-moving vehicles. Additionally, adjusting the illumination angle of the at least one headlight of the host vehicle to illuminate an area near the forward-moving vehicle closest to the host vehicle by the at least one headlight depending on the position of the forward-moving vehicle closest to the host vehicle can prevent dazzling of the drivers of all the forward-moving vehicles.The headlight control device according to this aspect of the invention sets the forward-moving vehicle closest to the host vehicle as the target vehicle and adjusts the illumination angle of at least one headlight of the host vehicle depending on the target longitudinal difference and the target lateral difference with respect to the target vehicle. Thus, the headlight control device according to this aspect of the invention can ensure high visibility for the driver of the host vehicle to see the view ahead of the host vehicle, while avoiding glare to the drivers of all the forward-moving vehicles if the forward-moving vehicles are present.

[0015] According to another aspect of the invention, if the electronic control unit does not detect the image of the forward-moving vehicle, the electronic control unit may set a predetermined base illumination angle as the target illumination angle. Further, if the electronic control unit detects the image of the forward-moving vehicle and detects the target vehicle, the electronic control unit may (i) obtain a first angle to be added to the predetermined base illumination angle based on the target longitudinal difference, (ii) obtain a second angle to be added to the predetermined base illumination angle based on the target lateral difference, and (iii) set a value obtained by adding the first angle and the second angle to the predetermined base illumination angle as the target illumination angle.

[0016] If the predetermined basic illumination angle has been prepared as the illumination angle of the at least one headlight of the own vehicle, setting the target illumination angle by correcting the predetermined basic illumination angle depending on the target longitudinal difference and the target lateral difference with respect to the target vehicle and adjusting the illumination angle of the at least one headlight of the own vehicle to the target illumination angle can surely prevent glare of the driver of the target vehicle.The headlight control device according to this aspect of the invention (i) sets the target illumination angle by correcting the predetermined base illumination angle by the first angle obtained based on the target longitudinal difference with respect to the target vehicle and the second angle obtained based on the target lateral difference with respect to the target vehicle, and (ii) adjusts the illumination angle of at least one headlight of the host vehicle to the target illumination angle. Thus, the headlight control device according to this aspect of the invention can ensure high visibility for the driver of the host vehicle to see the view ahead of the host vehicle, while reliably preventing glare for the driver of the host vehicle.

[0017] According to yet another embodiment of the invention, the at least one headlight may include an oncoming lane area headlight that illuminates an area on one side of an oncoming lane (or an oncoming lane), and a forward area headlight that illuminates an area directly in front of the host vehicle. Furthermore, the illumination angle of the oncoming lane area headlight may be smaller than the illumination angle of the forward area headlight by a predetermined angle. Furthermore, the electronic control unit may set the second angle to zero if the target vehicle is a vehicle moving in the area directly in front of the host vehicle. Furthermore, the electronic control unit may set the second angle to the predetermined angle if the target vehicle is a vehicle moving in the area on the oncoming lane side.

[0018] If (i) the illumination angle of the oncoming lane area headlight of the host vehicle is set to an angle smaller than the illumination angle of the forward area headlight of the host vehicle by the predetermined angle, and (ii) the target vehicle is a vehicle moving in the area directly in front of the host vehicle, the target illumination angle can be set using the target longitudinal difference without using the predetermined angle, which can ensure high visibility for the driver of the host vehicle to see the view ahead of the host vehicle while avoiding glare for the driver of the target vehicle.On the other hand, if the target vehicle is a vehicle moving in the area on the opposite lane side, using the target longitudinal difference without using the predetermined angle cannot set the target illumination angle, which can ensure the driver of the host vehicle has high visibility to see the view ahead of the host vehicle while avoiding glare to the driver of the target vehicle. The headlight control device according to this aspect of the invention sets the second angle to zero if the target vehicle is a vehicle moving in the area directly in front of the host vehicle. Thus, the target illumination angle is set without considering the predetermined angle.On the other hand, the headlight control device according to this aspect of the invention sets the second angle to the predetermined angle if the target vehicle is a vehicle moving in the area on the opposite lane side. Thus, the target illumination angle is set taking the predetermined angle into account. Thus, the headlight control device according to this aspect of the invention can ensure high visibility for the driver of the host vehicle to see the view ahead of the host vehicle, while avoiding glare for the driver of the target vehicle when the target vehicle is a vehicle moving in the area directly in front of the host vehicle and when the target vehicle is a vehicle moving in the area on the opposite lane side.

[0019] According to another embodiment of the invention, the electronic control unit can determine that the target vehicle is the vehicle moving in the area directly in front of the host vehicle if the target lateral difference with respect to the reference longitudinal line represents the area directly in front of the host vehicle. Furthermore, the electronic control unit can determine that the target vehicle is the vehicle moving in the area on the opposite lane side if the target lateral difference with respect to the reference longitudinal line represents the area on the opposite lane side.

[0020] If the target vehicle is a vehicle moving in the area directly in front of the host vehicle, the target lateral difference assumes a value that represents the area directly in front of the host vehicle with respect to the reference longitudinal line. On the other hand, if the target vehicle is a vehicle moving in the area on the opposite lane side, the target lateral difference assumes a value that represents the area on the opposite lane side with respect to the reference longitudinal line. The headlight control device according to this aspect of the invention determines that the target vehicle is the vehicle moving in the area directly in front of the host vehicle if the target lateral difference represents the area directly in front of the host vehicle with respect to the reference longitudinal line.On the other hand, according to this aspect of the invention, the headlight control unit determines that the target vehicle is the vehicle moving in the area on the opposite lane side if the target lateral difference with respect to the reference longitudinal line represents the area on the opposite lane side. This allows the headlight control unit to accurately determine whether the target vehicle is the vehicle moving in the area directly in front of the host vehicle or on the opposite lane side.

[0021] According to a further embodiment of the invention, the reference side line may be a line that defines a position of a front edge of the area in front of the own vehicle that the at least one headlight illuminates with a predetermined base illumination angle.

[0022] Setting the target illumination angle depending on the size of the area between the target vehicle and the leading edge of the area in front of the host vehicle illuminated by the at least one headlight can ensure high visibility for the driver of the host vehicle to see the view in front of the host vehicle, while avoiding glare for the driver of the target vehicle. According to the headlight control device according to this embodiment of the invention, the reference side line is the line that defines the position of the leading edge of the area in front of the host vehicle illuminated by the at least one headlight with the predetermined base illumination angle. Thus, the target illumination angle is set depending on the size of the area between the target vehicle and the leading edge of the area in front of the host vehicle illuminated by the at least one headlight.Thus, the headlight control device according to this aspect of the invention can ensure the high visibility of the driver of the host vehicle to see the view in front of the host vehicle, while avoiding dazzling the driver of the target vehicle.

[0023] The components of the invention are not limited to the components of the exemplary embodiments and modifications of the invention described together with the drawings. The other objects, features, and accompanying advantages of the invention can be easily understood from the exemplary embodiments and modifications of the invention. BRIEF DESCRIPTION OF THE DRAWING Fig. 1 is a diagram illustrating a headlight control device according to an embodiment of the invention. Fig. 2A is a diagram illustrating a scene in which low beam headlights of an own vehicle in which the headlight control device according to the embodiment of the invention is installed are turned on. Fig. 2B is a diagram showing a scene in which high beam headlights of the host vehicle in which the headlight control device according to the embodiment of the invention is mounted are turned on. Fig. 3 is a diagram illustrating an illumination angle of the headlight of the own vehicle in which the headlight control device according to the embodiment of the invention is mounted. Fig. 4 is a diagram showing a scene in which the low beam headlights and the high beam headlights of the host vehicle in which the headlight control device according to the embodiment of the invention is mounted are turned on. Fig. 5A is a diagram illustrating a scene in which a preceding vehicle moves directly in front of the host vehicle in which the headlight control device according to the embodiment of the invention is mounted, and the low beam headlights of the host vehicle are turned on. Fig. 5B shows a representation similar to Fig. 5A, and shows a scene in which the low beam headlights illuminate an optimal lighting area. Fig. 6A is a diagram illustrating a scene in which a neighboring lane vehicle is traveling in front of the host vehicle in which the headlight control device according to the embodiment of the invention is mounted, and the low beam headlights of the host vehicle are turned on. Fig. 6B shows a representation similar to Fig. 6A, and shows a scene in which the low beam headlights illuminate the optimal lighting area. Fig. 7A is a diagram illustrating a scene in which the preceding vehicle moves directly in front of the subject vehicle in which the headlight control device according to the embodiment of the invention is mounted, and the low beam headlights are turned on with a target illumination angle set to a basic illumination angle. Fig. Figure 7B shows a representation similar to Fig. 7A, and shows a scene in which the low beam headlights of the own vehicle are turned on with the target illumination angle set to an angle obtained by correcting the base illumination angle. Fig. Figure 8 shows a diagram showing an image of the scenery according to Fig. 7A illustrates. Fig. 9A is a diagram illustrating a scene in which a neighboring lane vehicle is moving in front of the host vehicle in which the headlight control device according to the embodiment of the invention is mounted, and the low beam headlights of the host vehicle are turned on with the target illumination angle set to the basic illumination angle. Fig. 9B shows a representation similar to Fig. 9A, and shows a scene in which the low beam headlights of the own vehicle are turned on with the target illumination angle set to an angle obtained by correcting the base illumination angle. Fig. 10 shows a diagram showing an image of the scenery according to Fig. 9A illustrates. Fig. 11A is a diagram illustrating a scene in which the preceding vehicle and the adjacent lane vehicle are moving in front of the host vehicle in which the headlight control device according to the embodiment of the invention is mounted, and the low beam headlights of the host vehicle are turned on with the target illumination angle set to the basic illumination angle. Fig. 11B shows a representation similar to Fig. 11A, and shows a scene in which the low beam headlights of the own vehicle are turned on with the target illumination angle set to an angle obtained by correcting the base illumination angle. Fig. 12 shows a diagram showing a picture of the scenery according to Fig. 11A illustrates. Fig. 13A is a diagram illustrating a scene in which the preceding vehicle and the adjacent lane vehicle are moving in front of the host vehicle in which the headlight control apparatus according to the embodiment of the invention is mounted, and the low beam headlights of the host vehicle are turned on with the illumination angle set to the basic illumination angle. Fig. 13B shows a representation according to Fig. 13A, and shows a scene in which the low beam headlights of the own vehicle are turned on with the target illumination angle set to an angle obtained by correcting the base illumination angle. Fig. 14 shows a diagram showing a picture of the scenery according to Fig. 13A illustrates. Fig. 15 is a diagram illustrating a flowchart of a routine executed by the headlight control apparatus according to the embodiment of the invention. Fig. 16 is a diagram illustrating a flowchart of a routine executed by the headlight control apparatus according to the embodiment of the invention. Fig. 17A is a diagram illustrating a scene in which the preceding vehicle and the adjacent lane vehicle are moving in front of the host vehicle in which the headlight control device according to the embodiment of the invention is mounted, and the low beam headlights of the host vehicle are turned on with the target illumination angle set to the basic illumination angle. Fig. 17B shows a representation similar to Fig. 17A, and shows a scene in which the low beam headlights of the own vehicle are turned on with the target illumination angle set to an angle obtained by correcting the basic illumination angle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] A headlight control device according to an embodiment of the invention will be described below with reference to the accompanying drawings. Fig. 1 shows the headlight control unit 10 according to the exemplary embodiment of the invention. The headlight control unit 10 is mounted in a private vehicle 100 (see Fig. 2). <ecu>

[0025] According to Fig. 1, the headlight control unit 10 includes an ECU 90. ECU stands for electronic control unit. The ECU 90 includes a microcomputer as a main component. The microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, and an interface. The CPU implements various functions by executing instructions, programs, or routines stored in the ROM.

[0026] A headlight device 20, a headlight operating device 31, an automatic high beam control operating device 32, a forward image acquiring device 41, and a forward information acquiring device 42 are mounted in the host vehicle 100. <frontscheinwerfervorrichtung>

[0027] The headlight device 20 includes low beam headlights 21L, high beam headlights 21H and headlight actuators 22. Hereinafter, the headlights 21 are the low beam headlights 21L and / or the high beam headlights 21H.

[0028] The low-beam headlights 21L are each attached to a left front section and a right front section of the host vehicle 100. Similarly, the high-beam headlights 21H are each attached to the left front section and the right front section of the host vehicle 100. The low-beam headlights 21L and the high-beam headlights 21H illuminate an area in front of the host vehicle 100. The low-beam headlights 21L and the high-beam headlights 21H are electrically connected to the ECU 90. The ECU 90 can turn the low-beam headlights 21L and the high-beam headlights 21H on and off.

[0029] The low beam headlights 21L illuminate the area in front of the host vehicle 100 with a relatively low illumination angle θ. The illumination angle θ of the low beam headlights 21L is hereinafter referred to as "low beam illumination angle θlow". In other words, according to Fig. 2A, the low beam headlights 21L illuminate the area in front of and relatively close to the vehicle 100.

[0030] On the other hand, the high beam headlights 21H illuminate the area in front of the host vehicle 100 with a relatively large illumination angle θ. The illumination angle θ of the high beam headlights 21H is hereinafter referred to as "high beam illumination angle θhigh". In other words, according to Fig. 2B, the high beam headlights 21H illuminate the area in front of and relatively far away from the own vehicle 100.

[0031] The illumination angle θ is an angle at which the headlights 21 emit light in front of the vehicle 100. In this embodiment, according to

[0032] Fig. 3 of the lighting device θ is an angle defined by an axis of the light emitted from the headlight 21 (ie, a light axis C) and a line Lv extending vertically.

[0033] According to Fig. 2A, in this embodiment, an area illuminated by the low-beam headlights 21L includes a low-beam forward illumination area A1 and a low-beam illumination area A2 on the opposite lane side. The low-beam forward illumination area A1 is an area directly in front of the host vehicle 100. The low-beam forward illumination area A1 generally has (i) a predetermined length forward from the host vehicle 100 and (ii) a width generally equal to a width of a lane in which the host vehicle 100 is traveling. The predetermined length of the low-beam forward illumination area A1 is hereinafter referred to as "low-beam forward illumination length D1." The lane in which the host vehicle 100 is traveling is hereinafter referred to as "host vehicle lane LN1."The low beam illumination area A2 on the oncoming lane side is an area in front of the host vehicle 100 and adjacent to the host vehicle lane LN1 on one side of an oncoming lane LN2 of the host vehicle lane LN1. The low beam illumination area A2 on the oncoming lane side generally has (i) a predetermined length from the host vehicle 100 forward and (ii) a width generally equal to a width of a lane adjacent to the host vehicle lane LN1 on the other side of the oncoming lane LN2 of the host vehicle lane LN1, that is, a width of the oncoming lane LN2 or a side lane LN3 adjacent to the host vehicle lane LN1 on the other side of the oncoming lane LN2 of the host vehicle lane LN1. The predetermined length of the low beam illumination area A2 on the oncoming lane side is hereinafter also referred to as "low beam illumination length D2 on the other side of the lane."

[0034] The low beam illumination length D2 on the oncoming lane side is shorter than the low beam forward illumination length D1. Thus, the low beam illumination area A2 on the oncoming lane side is more limited than the low beam forward illumination area A1. Thus, the illumination angle θlow of the low beam headlight 21L illuminating the area on the oncoming lane LN2 side of the host vehicle lane LN1 is smaller than the illumination angle θlow of the low beam headlight 21L illuminating the area directly in front of the host vehicle 100. Therefore, if the lane on the right side of the host vehicle lane LN1 is the oncoming lane LN2 and the oncoming vehicle 202 approaches the host vehicle 100, the headlight control unit 10 can prevent dazzling of the driver of the oncoming vehicle 202.

[0035] Furthermore, according to Fig. 2B, an area illuminated by the high-beam headlights 21H is a high-beam illumination area A3. The high-beam illumination area A3 is an area including (i) the area directly in front of the host vehicle 100 and (ii) the area in front of the host vehicle 100 and adjacent to the host vehicle lane LN1 on the oncoming lane LN2 side of the host vehicle lane LN1. In addition, the high-beam illumination area A3 generally has (i) a predetermined length forward from the host vehicle 100 and (ii) a width generally equal to a total of the width of the host vehicle lane LN1 and the width of the lane adjacent to the host vehicle lane LN1 on the oncoming lane LN2 side of the host vehicle lane LN1, that is, the width of the oncoming lane LN2 or the adjacent lane LN3 adjacent to the host vehicle lane LN1 on the oncoming lane LN2 side of the host vehicle lane LN1.The predetermined length of the high beam illumination area A3 is hereinafter referred to as "high beam illumination length D3".

[0036] The high beam illumination length D3 is longer than the low beam forward illumination length D1. Thus, the high beam illumination angle θhigh is set to an angle larger than the low beam illumination angle θlow. <frontscheinwerferstellglieder>

[0037] The headlight actuators 22 are mechanically connected to the low-beam headlights 21L. The headlight actuators 22 can change or adjust the low-beam illumination angles θlow by moving the low-beam headlights 21L upward or downward. The headlight actuators 22 are electrically connected to the ECU 90. The ECU 90 can change or adjust the low-beam illumination angles θlow by activating the headlight actuators 22. <Frontscheinwerferbetätigungseinrichtung>

[0038] The headlight operating device 31 is a device that the driver of the host vehicle 100 operates to request turning on or off the headlights 21, and to request turning on any of the low-beam headlights 21L and the high-beam headlights 21H. The headlight operating device 31 is provided, for example, on a lever attached to a steering column of the host vehicle 100. The headlight operating device 31 is electrically connected to the ECU 90.

[0039] If a predetermined turn-on operation of the headlights 21 is applied to the headlight operating device 31, the headlight operating device 31 sends a signal to the ECU 90 corresponding to the applied predetermined operation. If the ECU 90 receives this signal, the ECU 90 determines that a turn-on request operation requesting to turn on the headlights 21 is being performed. On the other hand, if a predetermined turn-off operation of the headlights 21 is applied to the headlight operating device 31, the headlight operating device 31 sends a signal to the ECU 90 corresponding to the applied predetermined operation. If the ECU 90 receives this signal, the ECU 90 determines that a turn-off request operation requesting to turn off the headlights 21 is being performed.

[0040] Furthermore, if a predetermined request operation for turning on the low beam headlights 21L is applied to the headlight operating device 31, the headlight operating device 31 sends a signal to the ECU 90 corresponding to the applied predetermined operation. If the ECU 90 receives this signal, the ECU 90 determines that a low beam request operation of requesting to turn on the low beam headlights 21L is being performed. On the other hand, if a predetermined request operation for turning on the high beam headlights 21H is applied to the headlight operating device 31, the headlight operating device 31 sends a signal to the ECU 90 corresponding to the applied predetermined operation.If the ECU 90 receives this signal, the ECU 90 determines that a high beam request operation of requesting to turn on the high beam headlights 21H is performed. <Automatikfernlichtsteuerungsbetätigungseinrichtung>

[0041] The automatic high beam control actuator 32 is a device that the driver of the host vehicle 100 operates to request execution of automatic high beam control, which will be described later. The automatic high beam control actuator 32 is, for example, a button or a switch. The automatic high beam control actuator 32 is electrically connected to the ECU 90. If a predetermined request operation for executing automatic high beam control is applied to the automatic high beam control actuator 32, the automatic high beam control actuator 32 sends a signal to the ECU 90 corresponding to the applied predetermined operation. If the ECU 90 receives this signal, the ECU 90 determines that execution of the automatic high beam control has been requested.On the other hand, if a predetermined request operation for stopping execution of the automatic high beam control is applied to the automatic high beam control operating device 32, the automatic high beam control operating device 32 sends a signal to the ECU 90 corresponding to the applied predetermined operation. If the ECU 90 receives this signal, the ECU 90 determines that stopping the execution of the automatic high beam control has been requested. <Vorwärtsbildbeschaffungsvorrichtung>

[0042] The forward image acquisition device 41 is a device that acquires images of a view in front of the host vehicle 100. The image of the view in front of the host vehicle 100 is also referred to as a "forward image IM_F" hereinafter. The forward image acquisition device 41 includes, for example, a camera. The forward image acquisition device 41 is electrically connected to the ECU 90. The forward image acquisition device 41 sends information about the acquired forward image IM_F to the ECU 90. The ECU 90 acquires the forward image IM_F from the information sent by the forward image acquisition device 41 and can detect vehicles in front of the host vehicle 100 based on the acquired information. The vehicle in front of the host vehicle 100 is referred to as a "forward moving vehicle 200F" or "forward moving vehicle 200F."In this embodiment, the forward-moving vehicles 200F include a leading vehicle, adjacent lane vehicles, and oncoming vehicles. The leading vehicle is a vehicle traveling in the host vehicle lane LN1 in the same direction as a moving direction of the host vehicle 100. The adjacent lane vehicle is a vehicle traveling in the same direction as the moving direction of the host vehicle 100 in the adjacent lane LN3 adjacent to the host vehicle lane LN1. The oncoming vehicle is a vehicle traveling in the opposite direction to the moving direction of the host vehicle 100 in the opposite lane LN2. <Vorwärtsinformationsbeschaffungsvorrichtung>

[0043] The forward information acquisition device 42 is a device that acquires information about a situation ahead of the host vehicle 100. The information about the situation ahead of the host vehicle 100 is referred to as "forward situation information INF." For example, the forward information acquisition device 42 includes at least one of sensors such as (i) radar sensors such as millimeter-wave radar sensors, (ii) ultrasonic wave sensors such as distance sonars, and (iii) laser radar sensors such as LiDAR. The forward information acquisition device 42 is electrically connected to the ECU 90. The forward information acquisition device 42 transmits the acquired forward situation information INF to the ECU 90. The ECU 90 can acquire information about the forward-moving vehicles 200F based on the forward situation information INF.If the forward information acquiring device 42 includes the sensors described above, the forward situation information INF is information about objects such as (i) a time period from a time when the sensor emits an electromagnetic wave or a sound wave to a time when the sensor receives the electromagnetic wave or the sound wave reflected on the objects, and (ii) a direction from which the sensor receives the reflected electromagnetic wave or the reflected sound wave. <Zusammenfassung eines Betriebs eines Frontscheinwerfersteuergeräts>

[0044] The following describes a summary of an operation of the headlight control unit 10. The headlight control unit 10 turns on the headlights 21 if the turn-on request operation is performed. On the other hand, if the turn-off request operation is performed, the headlight control unit 10 turns off the headlights 21. Furthermore, the headlight control unit 10 turns on the low beam headlights 21L according to Fig. 2A if (i) the headlight control unit 10 is not executing the automatic high beam control, (ii) the headlight control unit 10 has switched on the headlights 21, and (iii) the low beam request operation is performed. On the other hand, if (i) the headlight control unit 10 is not executing the automatic high beam control, (ii) the headlight control unit 10 has switched on the headlights 21, and (iii) the high beam request operation is performed, the headlight control unit 10 switches on the high beam headlights 21H according to Fig. 2B.

[0045] The headlight control unit 10 is configured to carry out automatic high beam control and illumination angle control. <automatikfernlichtsteuerung>

[0046] The headlight control unit 10 begins an execution of the automatic high beam control if the headlight control unit 10 determines that an execution of the automatic high beam control is requested.

[0047] If the headlight control unit 10 (i) is performing the automatic high beam control, (ii) has switched on the headlights 21 and (iii) determines that the low beam request operation is being performed, the headlight control unit 10 switches on the low beam headlights 21L according to Fig. 2A.

[0048] On the other hand, if the headlight control unit 10 (i) is performing the automatic high beam control, (ii) has turned on the headlights 21, and (iii) determines that the high beam request operation is being performed, the headlight control unit 10 switches on the low beam headlights 21L and the high beam headlights 21H according to Fig. 4. Subsequently, if the headlight control unit 10 detects at least one forward-moving vehicle 200F based on the forward image IM_F (or the forward image IM_F and the forward situation information INF) while the headlight control unit 10 is executing the automatic high beam control and has the high beam headlights 21H turned on, the headlight control unit 10 stops emitting light from a portion of the high beam headlights 21H, or blocks a portion of the light emitted from the high beam headlights 21H to prevent the detected at least one forward-moving vehicle 200F from being exposed to the light emitted from the high beam headlights 21H. In other words, the headlight control unit 10 shields a portion of the high beam headlights 21H. <beleuchtungswinkelsteuerung>

[0049] If (i) a preceding vehicle 201 is present in front of the own vehicle 100 and (ii) a distance between the own vehicle 100 and the preceding vehicle 201 is longer than the low beam forward illumination length D1, the low beam headlights 21L do not illuminate an area between the front edge E1 of the low beam forward illumination area A1 and the preceding vehicle 201 according to Fig. 5A. In this case, an adjustment of the low beam illumination angle θlow such that an optimal illumination area Aopt is achieved by the low beam headlights 21L according to Fig. 5B, ensure high visibility for the driver of the host vehicle 100 to see the view in front of the host vehicle 100, while avoiding glare for the driver of the preceding vehicle 201. The optimal illumination area Aopt is an area illuminated by the low-beam headlights 21L if one of the low-beam headlights 21L illuminates at least an area from the host vehicle 100 to the rear wheels RW of the preceding vehicle 201.

[0050] Further, if (i) an adjacent lane vehicle 203 is present in front of the host vehicle 100 and (ii) a distance between the host vehicle 100 and the adjacent lane vehicle 203 is longer than the low beam illumination length D2 on the opposite lane side, illuminate according to Fig. 6A, the low beam headlights 21L do not cover an area between a front edge E2 of the low beam illumination area A2 on the oncoming lane side and the adjacent lane vehicle 203. In this case, an adjustment of the low beam illumination angle θlow such that the optimal illumination area Aopt is achieved by the low beam headlights 21L according to Fig. 6B, ensure high visibility of the driver of the host vehicle 100 to see the view in front of the host vehicle 100, while avoiding dazzling a driver of the adjacent lane vehicle 203. The optimal illumination area Aopt is an area illuminated by the low-beam headlights 21L if one of the low-beam headlights 21L illuminates at least an area from the host vehicle 100 to the rear wheels RW of the adjacent lane vehicle 203.

[0051] The headlight control device 100 performs illumination angle control of adjusting the illumination angles θ of the headlights 21 depending on a positional relationship between the host vehicle 100 and the forward-moving vehicles 200F, so as to ensure the high visibility of the driver of the host vehicle 100 for seeing the view ahead of the host vehicle 100, while avoiding glare to the drivers of the forward-moving vehicles 200F.

[0052] In this embodiment, the headlight control device 10 is configured to adjust only the illumination angles θlow of the low-beam headlights 21L through the illumination angle control. In this regard, the headlight control device 10 may be configured to adjust the illumination angles θ of the low-beam headlights 21L and the high-beam headlights 21H through the illumination angle control. Also, the headlight control device 10 may be configured to adjust only the illumination angles θhigh of the high-beam headlights 21H through the illumination angle control.

[0053] Furthermore, in this embodiment, if the headlight control unit 10 has turned on the low beam headlights 21L, the headlight control unit 10 is configured to execute the illumination angle control regardless of whether the headlight control unit 10 is performing the automatic high beam control. In this regard, the headlight control unit 10 may be configured to execute the illumination angle control if the headlight control unit 10 is performing the automatic high beam control and has turned on the low beam headlights 21L.

[0054] The headlight control unit 10 performs a vehicle image acquisition process of acquiring images of the forward-moving vehicles 200F based on the forward image IM_F, while the headlight control unit 10 performs illumination angle control. The image of the forward-moving vehicle 200F is hereinafter referred to as "forward-moving vehicle image IM_200F."

[0055] In this embodiment, a base illumination angle θbase is set in advance as a starting value of the low beam illumination angle θlow. Further, if the low beam headlights 21L are turned on at the base illumination angle θbase, the low beam forward illumination area A1 is illuminated by the light emitted from the low beam headlight 21L at the base illumination angle θbase, and the low beam illumination area A2 on the oncoming lane side is illuminated by the light emitted from the low beam headlight 21L at the smaller illumination angle but by a predetermined angle close to the base illumination angle θbase (i.e., a cutoff angle θcutoff). Thus, in this embodiment, the illumination angle θlow of the low beam headlight 21L illuminating the area on the oncoming lane LN2 side with respect to the host vehicle lane LN1 is set to a predetermined angle (i.e.,the cutoff angle θcutoff) smaller angle than the illumination angle θlow of the low beam headlight 21L, which illuminates the area directly in front of the own vehicle 100.

[0056] If the headlight control unit 10 does not detect any forward-moving vehicle images IM_200F based on the forward image IM_F, the headlight control unit 10 sets the base illumination angle θbase as a target illumination angle θtgt and activates the headlight actuators 22 to adjust the low beam illumination angles θlow to the target illumination angles θtgt.

[0057] On the other hand, if the headlight control unit 10 acquires at least one forward-moving vehicle image IM_200F based on the forward image IM_F, the headlight control unit 10 sets the target illumination angle θtgt as described below and sets the low beam illumination angle θlow.

[0058] If according to Fig. 7A the preceding vehicle 201 moves directly in front of the own vehicle 100, the forward image IM_F is calculated according to Fig. 8 is acquired, and based on the acquired forward image IM_F, an image IM_201 of a vehicle (ie, the preceding vehicle 201) is captured.

[0059] If according to Fig. 9A the adjacent lane vehicle 203 is driving in front of the own vehicle 100 in the adjacent lane LN3 on the right side of the own vehicle lane LN1, the forward image IM_F is generated according to Fig. 10 is acquired, and based on the acquired forward image IM_F, an image IM_203 of a vehicle (ie, the adjacent lane vehicle 203) is captured.

[0060] If according to Fig. 11A the preceding vehicle 201 and the adjacent lane vehicle 203 are present in front of the own vehicle 100, the forward image IM_F is displayed according to Fig. 12 is acquired, and based on the acquired forward image IM_F, the image IM_201 and the image IM_203 of two vehicles (ie, the preceding vehicle 201 and the adjacent lane vehicle 203) are acquired.

[0061] If according to Fig. 13A the preceding vehicle 201 and the adjacent lane vehicle 203 are present in front of the own vehicle 100, the forward image IM_F is displayed according to Fig. 14, and based on the acquired forward image IM_F, the image IM_201 and the image IM_203 of two vehicles (ie, the preceding vehicle 201 and the fog lane vehicle 203) are acquired.

[0062] Lines Ly_R in Fig. 8, Fig. 10, Fig. 12 and Fig. 14 are reference side lines. The reference side line Ly_R is a reference line extending laterally in the forward image IM_F. Specifically, the reference side line Ly_R is a line defining a leading edge that the light emitted straight forward from the low beam headlight 21L can reach, with the low beam illumination angle θlow set to the base illumination angle θbase. In this embodiment, the reference side line Ly_R is a line defining the low beam forward illumination length D1, with the low beam illumination angle θlow set to the base illumination angle θbase. In other words, the reference side line Ly_R is a line defining the leading edge E1 of the low beam forward illumination area A1 (see Fig. 5A), where the low beam illumination angle θlow is set to the base illumination angle θbase.

[0063] A line Lx_R is a reference longitudinal line. The reference longitudinal line Lx_R is a reference line that extends longitudinally in the forward image IM_F. In particular, the reference longitudinal line Lx_R is a line that separates the forward low-beam illumination area A1 and the oncoming lane low-beam illumination area A2.

[0064] A line Ly_F is a forward-moving vehicle side line. The forward-moving vehicle side line Ly_F is a line extending laterally in the forward image IM_F. Also, the forward-moving vehicle side line Ly_F is a line defining a longitudinal position of the image IM_200F of the forward-moving vehicle 200F in the forward image IM_F. In this embodiment, the forward-moving vehicle side line Ly_F is a line defining a longitudinal position of the rear wheels RW of the forward-moving vehicle 200F in the forward image IM_F.

[0065] A line Lx_F is a forward-moving vehicle longitudinal line. The forward-moving vehicle longitudinal line Lx_F is a line that extends longitudinally in the forward image IM_F. Also, the forward-moving vehicle longitudinal line Lx_F is a line that defines a lateral position of the image IM_200F of the forward-moving vehicle 200F in the forward image IM_F. In this embodiment, the forward-moving vehicle longitudinal line Lx_F is a line that extends through a lateral center of the image IM_200F of the forward-moving vehicle 200F in the forward image IM_F.

[0066] A line Ly_C is a cutoff line. The cutoff line Ly_C is a line that defines a leading edge that the light emitted from the low beam headlight 21L toward the oncoming lane LN2 side with respect to the host vehicle 100 can reach, with the low beam illumination angle θlow set to the base illumination angle θbase. In this embodiment, the cutoff line Ly_C is a line that defines the low beam illumination length D2 on the oncoming lane side, with the low beam illumination angle θlow set to the base illumination angle θbase. In other words, the cutoff line Ly_C is a line that defines the leading edge E2 of the low beam illumination area A2 on the oncoming lane side (see Fig. 6A), where the low beam illumination angle θlow is fixed to the base illumination angle θbase.

[0067] In an example according to Fig. 7A, a distance from the host vehicle 100 to the preceding vehicle 201 is longer than the low beam forward illumination length D1. In an example according to Fig. 9A, a distance from the host vehicle 100 to the adjacent lane vehicle 203 is longer than the low beam forward illumination length D1. Thus, the distance from the host vehicle 100 to the adjacent lane vehicle 203 is longer than the low beam illumination length D2 on the opposite lane side. In an example according to Fig. 11A, the distance from the host vehicle 100 to the preceding vehicle 201 and the distance from the host vehicle 100 to the adjacent lane vehicle 203 are longer than the low beam forward illumination length D1. In an example according to Fig. 13A, the distance from the own vehicle 100 to the preceding vehicle 201 and the distance from the own vehicle 100 to the adjacent lane vehicle 203 are longer than the low beam forward illumination length D1.

[0068] When the headlight control unit 10 acquires the forward-moving vehicle images IM_200F, the headlight control unit 10 acquires a longitudinal difference dx and a lateral difference dy from each forward-moving vehicle image IM_200F. The longitudinal difference dx is a length in the forward image IM_F between the reference longitudinal line Ly_R and the forward-moving vehicle lateral line Ly_F. The lateral difference dy is a length in the forward image IM_F between the reference longitudinal line Lx_R and the forward-moving vehicle longitudinal line Lx_F.

[0069] The headlight control device 10 sets the forward-moving vehicle 200F that is closest to the own vehicle 100 among the forward-moving vehicles 200F represented by the acquired forward-moving vehicle images IM_200F as a target vehicle 200T. Specifically, the headlight control device 10 sets the forward-moving vehicle 200F that has the shortest longitudinal difference dx among the forward-moving vehicles 200F represented by the acquired forward-moving vehicle images IM_200F as a target vehicle 200T.

[0070] In an example according to Fig. 8, a forward-moving vehicle 200F is present. Thus, a forward-moving vehicle image IM_200F is acquired from the forward image IM_F. Thus, the one forward-moving vehicle 200F (ie, the preceding vehicle 201) is set as the target vehicle 200T.

[0071] In an example according to Fig. 10, a forward-moving vehicle 200F is present, and thus, a forward-moving vehicle image IM_200F is acquired from the forward image IM_F. Thus, the one forward-moving vehicle 200F (ie, the adjacent lane vehicle 203) is set as the target vehicle 200T.

[0072] In an example according to Fig. 12, the forward-moving vehicle images IM_200F (in this example, two forward-moving vehicle images IM_200F) are acquired from the forward image IM_F. The longitudinal difference dx of one (i.e., the preceding vehicle 201) of the two forward-moving vehicles 200F represented by the forward-moving vehicle images IM_200F is shorter than the longitudinal difference dx of the other forward-moving vehicle 200F (i.e., the adjacent lane vehicle 203) represented by the other forward-moving vehicle image IM_200F. Thus, the preceding vehicle 201 is set as the target vehicle 200T.

[0073] In an example according to Fig. 14, the forward-moving vehicle images IM_200F (in this example, two forward-moving vehicle images IM_200F) are acquired from the forward image IM_F. The longitudinal difference dx of one (i.e., the adjacent lane vehicle 203) of the two forward-moving vehicles 200F represented by the forward-moving vehicle images IM_200F is shorter than the longitudinal difference dx of the other forward-moving vehicle 200F (i.e., the preceding vehicle 201) represented by the other forward-moving vehicle image IM_200F. Thus, the adjacent lane vehicle 203 is set as the target vehicle 200T.

[0074] After the headlight control unit 10 sets the target vehicle 200T, the headlight control unit 10 sets the longitudinal difference dx of the target vehicle 200T as a target longitudinal difference dx_T, and sets the lateral difference dy of the target vehicle 200T as a target lateral difference dy_T.

[0075] In the example according to Fig. 8, the longitudinal difference dx of the preceding vehicle 201 is set as the target longitudinal difference dx_T, and the lateral difference dy of the preceding vehicle 201 is set as the target lateral difference dy_T. In the example according to Fig. 10, the longitudinal difference dx of the adjacent lane vehicle 203 is set as the target longitudinal difference dx_T, and the lateral difference dy of the adjacent lane vehicle 203 is set as the target lateral difference dy_T. In the example according to Fig. 12, the longitudinal difference dx of the preceding vehicle 201 is set as the target longitudinal difference dx_T, and the lateral difference dy of the preceding vehicle 201 is set as the target lateral difference dy_T. In the example according to Fig. 14, the longitudinal difference dx of the adjacent lane vehicle 203 is set as the target longitudinal difference dx_T, and the lateral difference dy of the adjacent lane vehicle 203 is set as the target lateral difference dy_T.

[0076] The headlight control unit 10 acquires (i) a first angle θ1 based on the target longitudinal difference dx_T and (ii) a second angle θ2 based on the target lateral difference dy_T. Subsequently, the headlight control unit 10 sets a target illumination angle θtgt obtained by adding the acquired first angle θ1 and the acquired second angle θ2 to the base illumination angle θbase. Subsequently, the headlight control unit 10 sets the low beam illumination angles θlow to the target illumination angles θtgt by activating the headlight actuators 22.

[0077] The first angle θ1 is an angle to be added to the base illumination angle θbase to make the target longitudinal difference dx_T zero. In this embodiment, if the target longitudinal difference dx_T is positive, the first angle θ1 takes a positive value. On the other hand, if the target longitudinal difference dx_T is negative, the first angle θ1 takes a negative value. An absolute value of the first angle θ1 increases with an increase in an absolute value of the target longitudinal difference dx_T. The second angle θ2 is an angle to be added to the base illumination angle θbase to cause the cutoff line Ly_C to correspond to the forward-moving vehicle side line Ly_F (ie, a target vehicle side line) of the target vehicle 200T.

[0078] In the example according to Fig. 8, the target longitudinal difference dx_T takes a value representing that the target vehicle 200T (ie, the preceding vehicle 201) is located at a position beyond the reference side line Ly_R forward of the host vehicle 100. The target side difference dy_T takes a value representing that the target vehicle 200T is a vehicle moving directly in front of the host vehicle 100, that is, that the target vehicle 200T is the preceding vehicle 201. Thus, the headlight control device 10 detects that the target vehicle 200T (ie, the preceding vehicle 201) is a vehicle located at a position beyond the reference side line Ly_R forward of the host vehicle 100 based on the target longitudinal difference dx_T, and detects that the target vehicle 200T is a vehicle moving directly ahead of the host vehicle 100, that is, the target vehicle 200T is the preceding vehicle 201 based on the target side difference dy_T.

[0079] Subsequently, the headlight control unit 10 acquires the first angle θ1 based on the target longitudinal difference dx_T, where a first angle θ1 is an angle by which the headlight control unit 10 needs to increase the low beam illumination angle θlow to make the target longitudinal difference dx_T zero. In addition, the headlight control unit 10 acquires the second angle θ2 from zero, that is, sets the second angle θ2 to zero, since the target vehicle 200T is the preceding vehicle 201, and thus the headlight control unit 10 does not need to cause the cutoff line Ly_C to correspond to the cutoff line Ly_C of the forward-moving vehicle side line L_F of the target vehicle 200T in order to illuminate the optimal illumination area Aopt by the low beam headlights 21L.

[0080] Subsequently, the headlight control unit 10 acquires an angle by adding the first angle θ1 and the second angle θ2 to the base illumination angle θbase, and sets the acquired angle as the target illumination angle θtgt. In this case, the second angle θ2 is zero. Thus, adding the second angle θ2 to the base illumination angle θbase is the same as not adding the second angle θ2 to the base illumination angle θbase. Subsequently, the headlight control unit 10 sets the low beam illumination angle θlow to the target illumination angle θtgt by activating the headlight actuators 22. Thereby, according to Fig. 7B the optimal lighting area Aopt is illuminated by the low beam headlights 21L.

[0081] In the example according to Fig. 10, the target longitudinal difference dx_T takes a value representing that the target vehicle 200T (ie, the adjacent lane vehicle 203) is located at a position beyond the reference longitudinal line Ly_R forward of the host vehicle 100. Further, the target side difference dy_T takes a value representing that the target vehicle 200T is a vehicle moving ahead of the host vehicle 100 in the adjacent lane LN3 on the right side of the host vehicle lane LN1, that is, the target vehicle 200T is the adjacent lane vehicle 203. Subsequently, the headlight control unit 10 detects, based on the target longitudinal difference dx_T, that the target vehicle 200T (ie,the adjacent lane vehicle 203) is a vehicle located at a position beyond the reference longitudinal line Ly_R forward of the host vehicle 100, and detects, based on the target side difference dy_T, that the target vehicle 200T is a vehicle moving ahead of the host vehicle 100 in the adjacent lane LN3 on the right side of the host vehicle lane LN1, that is, that the target vehicle 200T is the adjacent lane vehicle 203.

[0082] Subsequently, the headlight control unit 10 acquires the first angle θ1 based on the target longitudinal difference dx_T, where a first angle θ1 is an angle by which the headlight control unit 10 needs to increase the low beam illumination angle θlow to make the target longitudinal difference dx_T zero. In addition, the headlight control unit 10 acquires the cutoff angle θcutoff (ie, the predetermined angle) as the second angle θ2, that is, sets the second angle θ2 to the cutoff angle θcutoff, since the target vehicle 200T is the adjacent lane vehicle 203, and thus, the headlight control unit 10 needs to make the cutoff line Ly_C correspond to the forward-moving vehicle side line Ly_F of the target vehicle 200T in order to illuminate the optimal illumination area Aopt by the low beam headlights 21L.

[0083] Subsequently, the headlight control unit 10 acquires an angle by adding the first angle θ1 and the second angle θ2 to the base illumination angle θbase, and sets the acquired angle as the target illumination angle θtgt. Subsequently, the headlight control unit 10 sets the low beam illumination angle θlow to the target illumination angle θtgt by activating the headlight actuators 22. Thereby, according to Fig. 9 B the optimal lighting area Aopt is illuminated by the low beam headlights 21L.

[0084] In the example according to Fig. 12, the preceding vehicle 201 is set as the target vehicle 200T. Thus, the target illumination angle θtgt is as described in connection with Fig. 7 and Fig. 8. Subsequently, the headlight control unit 10 sets the low beam illumination angle θlow to the target illumination angle θtgt by activating the headlight actuators 22. This is done according to Fig. 11B the optimal lighting area Aopt is illuminated by the low beam headlights 21L.

[0085] In the example according to Fig. 14, the adjacent lane vehicle 203 is set as the target vehicle 200T. Thus, the target illumination angle θtgt is as described in connection with Fig. 9 and Fig. 10. Subsequently, the headlight control unit 10 sets the low beam illumination angle θlow to the target illumination angle θtgt by activating the headlight actuators 22. This is done according to Fig. 13B the optimal lighting area Aopt is illuminated by the low beam headlights 21L.

[0086] As a result, the optimal illumination area Aopt is illuminated by the low-beam headlights 21L. Thus, the headlight control unit 10 can ensure the driver of the host vehicle 100 has high visibility to see the view in front of the host vehicle 100, while avoiding glare for the driver of the target vehicle 200T.

[0087] Above, the headlight control device 10 was described using examples in which one or both of the preceding vehicle 201 and the adjacent lane vehicle 203 is / are detected as the forward-moving vehicle(s) 200F. However, the headlight control device 10 may be configured to acquire the image IM_202 of the oncoming vehicle 202, set the oncoming vehicle 202 represented by the acquired image IM_202 as the target vehicle 200T, and adjust the low-beam illumination angle θlow such that the optimal illumination area Aopt with respect to the target vehicle 200T is illuminated by the low-beam headlights 21L. <Bestimmte Vorgänge eines Frontscheinwerfersteuergeräts>

[0088] The following describes certain operations of the headlight control unit 10. The CPU of the ECU 10 of the headlight control unit 10 is configured or programmed to execute a routine according to Fig. 15 every time a predetermined calculation time elapses if the CPU turns on the headlights 21. Thus, at a predetermined time, the CPU starts executing an operation from a step 1500 of the routine according to Fig. 15, and proceeds to a step 1510 to determine whether the high beam request actuation is made.

[0089] If the CPU determines "Yes" at step 1510, the CPU proceeds to step 1520 to turn on the high beam headlights 21H. Subsequently, the CPU proceeds to step 1530 to determine whether execution of the automatic high beam control is requested.

[0090] If the CPU determines "Yes" at step 1530, the CPU proceeds to step 1540 to turn on the low beam headlights 21L. Subsequently, the CPU proceeds to step 1550 to execute the vehicle image acquiring process of acquiring the forward-moving vehicle images IM_200F from the forward image IM_F. Subsequently, the CPU proceeds to step 1560 to determine whether at least one forward-moving vehicle image IM_200F is acquired from the forward image IM_F by the vehicle image acquiring process executed at step 1550.

[0091] If the CPU determines "Yes" at step 1560, the CPU proceeds to step 1570 to shade the high beam with respect to the at least one forward-moving vehicle 200F represented by the at least one forward-moving vehicle IM_200F detected at step 1550. Subsequently, the CPU proceeds to step 1595 to terminate execution of this routine once.

[0092] On the other hand, if the CPU determines "No" at step 1560, the CPU proceeds processing directly to step 1595 to complete one execution of this routine.

[0093] Further, if the CPU determines "No" at step 1530, the CPU proceeds processing directly to step 1595 to terminate one execution of this routine.

[0094] Further, if the CPU determines "No" at step 1510, the CPU proceeds to step 1580 to turn on the low beam headlights 21L. Subsequently, the CPU proceeds to step 1595 to terminate execution of this routine once.

[0095] In addition, the CPU is configured or programmed to execute a routine according to Fig. 16 each time the predetermined calculation time expires. Thus, at a predetermined time, the CPU starts executing an operation from a step 1600 of the routine according to Fig. 16, and proceeds to a step 1610 to determine whether the low beam headlights 21 have been turned on.

[0096] If the CPU determines "Yes" at step 1610, the CPU proceeds to step 1620 to execute the vehicle image acquiring process of acquiring the forward-moving vehicle images IM_200F from the forward image IM_F. Subsequently, the CPU proceeds to step 1630 to determine whether at least one forward-moving vehicle image IM_200F is acquired by the vehicle image acquiring process executed at step 1620.

[0097] If the CPU determines "Yes" at step 1630, the CPU proceeds to step 1640 to set the target vehicle 200T among the at least one forward-moving vehicle 200F represented by the at least one forward-moving vehicle image IM_200F acquired at step 1620, and acquire the target longitudinal difference dx_T and the target lateral difference dy_T of the target vehicle 200T. Subsequently, the CPU proceeds to step 1650 to determine whether the target vehicle 200T is a vehicle located directly in front of the host vehicle 100 based on the target lateral difference dy_T.

[0098] If the CPU determines "Yes" at step 1650, the CPU proceeds to step 1660 to (i) acquire the first angle θ1 based on the target longitudinal difference dx_T, (ii) acquire a value by adding the first angle θ1 to the base illumination angle θbase, and (iii) set the acquired angle as the target illumination angle θtgt. Subsequently, the CPU proceeds to step 1690 to set the low beam illumination angle θlow to the target illumination angle θtgt set at step 1660 by operating the headlight actuators 22. Thereby, the low beam headlights 21L illuminate the optimal illumination area Aopt.

[0099] Subsequently, the CPU proceeds to a step 1695 to complete one execution of this routine.

[0100] On the other hand, if the CPU determines "No" at step 1650, the CPU proceeds to step 1670 to (i) acquire the first angle θ1 based on the target longitudinal difference dx_T, (ii) set the cutoff angle θcutoff as the second angle θ2, (iii) acquire an angle by adding the first angle θ1 and the second angle θ2 to the base illumination angle θbase, and (iv) set the acquired angle as the target illumination angle θtgt. Subsequently, the CPU proceeds to step 1690 to set the low beam illumination angle θlow to the target illumination angle θtgt set at step 1670 by activating the headlight actuators 22. Thereby, the low beam headlights 21L illuminate the optimal illumination area Aopt.

[0101] Subsequently, the CPU proceeds to step 1695 to complete one execution of this routine.

[0102] If the CPU determines "No" at step 1630, the CPU proceeds to step 1680 to set the base illumination angle θbase as the target illumination angle θtgt. Subsequently, the CPU proceeds to step 1690 to set the low beam illumination angle θlow to the target illumination angle θtgt set at step 1680 by activating the headlight actuators 22. Thereby, the optimal illumination area Aopt is illuminated by the low beam headlights 21L.

[0103] Subsequently, the CPU proceeds to step 1695 to complete one execution of this routine.

[0104] If the CPU determines "No" at step 1601, the CPU proceeds processing directly to step 1695 to complete one execution of this routine.

[0105] Certain operations of the headlight control unit 10 have been described above.

[0106] It should be noted that the invention is not limited to the above-mentioned embodiments, and various modifications can be applied within the scope of the invention.

[0107] For example, if the preceding vehicle 201 and the adjacent lane vehicle 203 are in accordance with Fig. 17B in front of the host vehicle 100, and the low beam illumination angles θlow are set to the target illumination angle θtgt set as described above, the light from the low beam headlights 21L can illuminate the preceding vehicle 201 due to a positional relationship between the preceding vehicle 201 and the adjacent lane vehicle 203 according to Fig. 17B. In this case, the driver of the vehicle 201 in front may be dazzled.

[0108] Accordingly, the headlight control unit 10 may be configured to set the forward-moving vehicle 200F illuminated by the light from the low-beam headlight 21L as the target vehicle 200T if (i) the images IM_200F of the forward-moving vehicles 200F are acquired by the vehicle image acquisition process, (ii) the forward-moving vehicle 200F with the shortest longitudinal difference dx is set as the target vehicle 200T, and (iii) the light from the low-beam headlights 21L predictably illuminates one of the remaining forward-moving vehicles 200F.

[0109] A headlight control device (10) sets a forward-moving vehicle (200F) as a target vehicle (200T), acquires a target longitudinal difference between a reference side line in a forward image and a target vehicle longitudinal line that defines a position of the target vehicle (200T) in a longitudinal direction in the forward image, acquires a target lateral difference between a reference longitudinal line in the forward image and a target vehicle longitudinal line that defines a position of the target vehicle (200T) in the lateral direction in the forward image, sets a target illumination angle of the at least one headlight (21L) depending on the target longitudinal and lateral difference, and sets the illumination angle of the at least one headlight (21L) to the target illumination angle.< / beleuchtungswinkelsteuerung> < / automatikfernlichtsteuerung> < / frontscheinwerferstellglieder> < / frontscheinwerfervorrichtung> < / ecu>

Claims

[1] Headlight control unit (10), with: an electronic control unit (90) that performs an illumination angle control of setting an illumination angle (θ) of at least one headlight (21L) of a host vehicle (100), wherein the illumination angle (θ) is an angle at which the at least one headlight (21L) emits light in front of the host vehicle (100), which is defined by an axis (C) of the light emitted by the at least one headlight (21L) and a line (Lv) extending vertically; and a forward image acquiring device (41) which acquires a forward image which is an image of a view in front of the own vehicle (100), wherein the electronic control unit (90) is arranged to: to perform a vehicle image sensing operation of sensing an image of a forward-moving vehicle (200F) in front of the host vehicle (100) from the forward image if the electronic control unit (90) executes the illumination angle control, characterized by that the electronic control unit (90) is further configured to: if the electronic control unit (90) acquires the image of the forward-moving vehicle (200F) by the vehicle image acquisition process, setting the forward-moving vehicle (200F) identified by the acquired image of the forward-moving vehicle (200F) as a target vehicle (200T) to which the illumination angle control is aimed; to obtain a target longitudinal difference corresponding to a length between a reference side line and a target vehicle side line, wherein the reference side line is a reference line extending in a lateral direction in the forward image and is a line defining a position of a leading edge of the area in front of the host vehicle (100) illuminated by the at least one headlight (21L) with a predetermined basic illumination angle, the target vehicle side line is a line extending in the lateral direction in the forward image and defining a position of the target vehicle (200T) in a longitudinal direction in the forward image; to obtain a target lateral difference corresponding to a length between a reference longitudinal line and a target vehicle longitudinal line, wherein the reference longitudinal line is a reference line extending in the longitudinal direction in the forward image, the target vehicle longitudinal line is a line extending in the longitudinal direction in the forward image and defines a position of the target vehicle (200T) in the lateral direction in the forward image; to determine a target illumination angle of the at least one headlight (21L) depending on the acquired target longitudinal difference and the acquired target lateral difference; and adjusting the illumination angle of the at least one headlight (21L) to the predetermined target illumination angle, wherein: if the electronic control unit (90) acquires the image of the forward-moving vehicle (200F) and determines the target vehicle (200T), the electronic control unit (90) is further configured to (i) obtain a first angle to be added to the predetermined base illumination angle based on the desired longitudinal difference, (ii) obtain a second angle to be added to the predetermined base illumination angle based on the desired lateral difference, and (iii) set a value obtained by adding the first angle and the second angle to the predetermined base illumination angle as the target illumination angle; the at least one headlight (21L) comprises an oncoming lane area headlight (21L) that illuminates an area on one side of an oncoming lane, and a forward area headlight (21L) that illuminates an area directly in front of the host vehicle (100); the illumination angle of the oncoming lane area headlight (21L) is smaller than the illumination angle of the forward area headlight (21L) by a predetermined angle, and the electronic control unit (90) is further configured to: setting the second angle to zero if the target vehicle (200T) is a vehicle moving in the area directly in front of the own vehicle (100); setting the second angle to the predetermined angle if the target vehicle (200T) is a vehicle moving in the area on the opposite lane side; to determine that the target vehicle (200T) is the vehicle moving in the area directly in front of the host vehicle (100) if the target lateral difference with respect to the reference longitudinal line represents the area directly in front of the host vehicle (100); and to determine that the target vehicle (200T) is the vehicle moving in the area on the opposite lane side if the target side difference with respect to the reference longitudinal line represents the area on the opposite lane side. [2] The headlight control device (10) according to claim 1, wherein, if the electronic control unit (90) acquires the images of the forward-moving vehicles (200F) from the forward image, the electronic control unit (100) is configured to set the forward-moving vehicle (200F) that is closest to the host vehicle (100) among the forward-moving vehicles (200F) identified by the images of the forward-moving vehicles (200F) as the target vehicle (200T). [3] Headlight control device (10) according to claim 1, wherein the electronic control unit (90) is arranged to: if the electronic control unit (90) does not detect the image of the forward-moving vehicle (200F), set a predetermined base illumination angle as the target illumination angle.

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